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WO2009027979A2 - Dispositif d'actionnement déformable sous pression et procédé - Google Patents

Dispositif d'actionnement déformable sous pression et procédé Download PDF

Info

Publication number
WO2009027979A2
WO2009027979A2 PCT/IL2008/001170 IL2008001170W WO2009027979A2 WO 2009027979 A2 WO2009027979 A2 WO 2009027979A2 IL 2008001170 W IL2008001170 W IL 2008001170W WO 2009027979 A2 WO2009027979 A2 WO 2009027979A2
Authority
WO
WIPO (PCT)
Prior art keywords
tube
pressurized
actuating device
wall
inflatable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IL2008/001170
Other languages
English (en)
Other versions
WO2009027979A3 (fr
Inventor
Alon Wolf
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Technion Research and Development Foundation Ltd
Original Assignee
Technion Research and Development Foundation Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Technion Research and Development Foundation Ltd filed Critical Technion Research and Development Foundation Ltd
Publication of WO2009027979A2 publication Critical patent/WO2009027979A2/fr
Anticipated expiration legal-status Critical
Publication of WO2009027979A3 publication Critical patent/WO2009027979A3/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/30—Controlling members actuated by foot
    • G05G1/50—Manufacturing of pedals; Pedals characterised by the material used
    • G05G1/503—Controlling members for hand-actuation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type

Definitions

  • the present invention relates to actuators. More particularly, the present invention relates to a pressurized deformable actuating device and method thereof.
  • An inflatable actuator has a low weight due to the structural materials of which the actuator is constructed.
  • An inflatable actuator is controlled by controlling the pressure of fluid (gas or liquid) in the actuator. The controllability of an inflatable actuator may be useful in carrying out delicate operations.
  • Inflatable bellows actuators have been proposed for use as artificial muscles.
  • inflatable actuators are described by Morin in U.S. patent no. 2642091, by Yarlott in U.S patent no. 3645173, and by Immega et al. in U.S. patent no. 4939982.
  • By inflating the actuator and increasing the radial dimension of the actuator the axial length contracts, imitating the action of a muscle.
  • AU of these actuators are limited to contraction and relaxation in a single, axial dimension.
  • Others have described actuators with motion in several degrees of freedom. Thomann et al.
  • a deformable actuating device comprising at least one inflatable tube having an inlet for inflating a space within the tube by a pressurized fluid, the tube having a wall with different elasticity along the tube so as to cause the tube to bend in a predetermined direction when inflated.
  • the sections of the sections of different elasticity comprise materials of different elasticity.
  • the sections of different elasticity vary in thickness from one another.
  • the sections of different elasticity comprise two sections of different elasticity.
  • said at least one inflatable tube comprises at least two inflatable tubes joined in such a manner that each of said at least two inflatable tubes is designed to bend in a predetermined direction when inflated, wherein the predetermined directions of at least two of said at least two inflatable tubes differ from one another.
  • said at least two inflatable tubes comprise three inflatable tubes.
  • the space is confined by the wall.
  • the wall of the tube comprises an inner wall and outer wall and the space is confined by the inner wall and the outer wall.
  • At least one of said at least one inflatable tube comprises a conduit for conducting a fluid.
  • the wall comprises a sensor adapted to sense strain.
  • an actuating method comprising:
  • the method comprises using a pump in the step of inflating the space within the tube.
  • the method further comprises monitoring the shape of the deformable actuating device.
  • the step of providing at least one inflatable tube comprises providing at least two inflatable tubes joined in such a manner that each of said at least two inflatable tubes is designed to bend in a predetermined direction; and inflating the tubes.
  • FIG. 1 shows a pressurized deformable actuating device constructed of two materials, in accordance with embodiments of the present invention.
  • Fig. 2 shows a pressurized deformable actuating device constructed of a single material, in accordance with embodiments of the present invention.
  • Fig. 3 A shows a cross section of the actuator of Fig. 2 in an initial straight state.
  • Fig. 3B shows a cross section of the actuator of Fig. 2, partially bent.
  • Fig. 3C is a cross section of the actuator of Fig. 2, further bent.
  • FIG. 4 shows another arrangement of a pressurized deformable actuating device, in accordance with embodiments of the present invention.
  • FIG. 5 is a schematic diagram of a method of monitoring the state of a pressurized deformable actuating device in accordance with embodiments of the present invention.
  • Fig. 6A is a cross section of an inflatable device adapted to delivering fluids, in accordance with embodiments of the present invention.
  • Fig. 6B shows a section of the device of Fig. 6 A.
  • a pressurized deformable actuating device in accordance with embodiments of the present invention includes an elongated tube that is sealed at one end.
  • the elasticity of the wall of the tube varies along its perimeter.
  • pressurized fluid such as a liquid or gas
  • the tube elongates. Due to the variation in the elasticity of the wall along the perimeter of the tube, one side of the tube may elongate more than another side. Therefore, applying pressure to the inside of the tube results in an elongated curved tube.
  • the curvature of the tube is determined by the varying elasticity of the tube wall and the applied pressure.
  • Such a tube may serve, for example, as an actuator in a robotic system.
  • the actuator By controlling the pressure applied to the inside of the actuator, the actuator may be manipulated to press, push, pull or contact various objects or surfaces in its vicinity.
  • Fig. 1 shows a pressurized deformable actuating device constructed of two materials, in accordance with some embodiments of the present invention.
  • Bi-material pressurized deformable actuating device 10 is constructed in the form of a hollow cylindrical tube.
  • the cross section of bi-material pressurized deformable actuating device 10 is circular, although the cross section could be constructed with any appropriate shape.
  • the tube is divided lengthwise into sections, e.g. two sections, as in the embodiment shown in this figure (section 12 and section 14) that are bonded to each other.
  • Each section is constructed of a material with different elastic properties. For example, the material of which section 12 is constructed may be more elastic than the material of which section 14 is constructed.
  • bi-material pressurized deformable actuating device 10 may cause section 12 to elongate along the axis of the actuator more than section 14. Since section 12 and section 14 are bonded mechanically to move together, bi-material pressurized deformable actuating device 10 may bend in the direction of less elastic section 14. Bi- material pressurized deformable actuating device 10 thus acquires a curvature with less elastic section 14 on the concave side, and more elastic section 12 on the convex side.
  • Fig. 2 shows a pressurized deformable actuating device constructed of a single material, in accordance with embodiments of the present invention.
  • the wall of pressurized deformable actuating device 16 may again be divided lengthwise into two sections, section 18 and section 20.
  • both section 18 and section 20 are constructed of a single material.
  • Section 18, however, is thicker than section 20. Therefore, given uniform material elastic properties in both sections, section 20 is more elastic than section 18.
  • Pressurizing the hollow interior of pressurized deformable actuating device 16 causes section 20 to elongate more than section 18.
  • pressurized deformable actuating device 16 maj' bend toward thicker section 18, acquiring a curvature with thicker section 18 on the concave side, and thinner section 20 on the convex side.
  • the thickness or elastic properties of the wall of the pressurized deformable actuating device may vary continuously (and not discretely as shown in Fig. 2) along the perimeter of the pressurized deformable actuating device, or the wall may be divided into more than two sections.
  • the elastic properties of various parts of the actuator may be varied by applying varying degrees of thermal, electrical, chemical, or other physical stimuli to a section or sections of an actuator made from a material whose elastic properties are sensitive to changes in temperature, electrical current, chemical concentration, or other physical stimuli.
  • the walls of the actuator may be constructed with folds, projections, or other morphological features in such a manner that one side is more readily extendible than another.
  • the elastic properties of the wall of a pressurized deformable actuating device may also vary along the length of the actuator. This may result in the pressurized deformable actuating device acquiring more complex shapes (for example, an "S" shape or helical shape) when inflated, with the direction and radius of curvature varying along the length of the actuator.
  • Fig. 3 A shows a cross section of the actuator of Fig. 2 in an initial straight state.
  • pressurized deformable actuating device 16 is sealed, forming hollow chamber 13 along the central axis of pressurized deformable actuating device 16.
  • the walls of the pressurized deformable actuating device 16 are widened to form inlet 11.
  • Inlet 11 may be connected to a connection port of a source of compressed air, or another pressurized gas or fluid.
  • the connection port to which inlet 11 is connected may be rotatable. Rotating the connection port then rotates pressurized deformable actuating device 16.
  • the pressure of the introduced fluid is equal to the ambient atmospheric pressure, and the elasticity of the actuator walls contracts pressurized deformable actuating device 16 to its deflated, unextended shape.
  • Fig. 3B shows a cross section of the actuator of Fig. 2, partially bent.
  • gas or fluid pressurized to a pressure somewhat greater than atmospheric pressure is forced into hollow chamber 13 of pressurized deformable actuating device 16 through inlet 11.
  • the pressurized fluid expands pressurized deformable actuating device 16. Due to the greater flexibility of the wall of section 20, the wall of section 20 stretches by a greater amount than the wall of section 18.
  • Fig. 3C is a cross section of the actuator of Fig.
  • pressurized deformable actuating device 16 has curved by about 180°, so that end 15 extends back toward the connection port of inlet 11. End 15 may be made to apply a force to an object or surface placed at the extreme point reached by end 15.
  • FIG. 4 shows an arrangement of a pressurized deformable actuating device, in accordance with embodiments of the present invention, that includes several such tubes joined together.
  • actuator 40 includes three individual pressurized deformable actuating tubes 16a, 16b, and 16c, bundled in a trefoil arrangement. The stiffer, more rigid segment of each individual pressurized deformable actuating device faces outward from the center of the bundle.
  • Each individual pressurized deformable actuating tube of actuator bundle 40 maybe pressurized separately, or several in combination may by pressurized to varying degrees.
  • Pressurizing a single pressurized deformable actuating tube of actuator bundle 40 may cause that actuator to bend outward from the center of the bundle, as indicated by the arrows in Fig. 4.
  • the bending directions, or bending planes, of individual pressurized deformable actuating tubes 16a, 16b, and 16c are oriented approximately 120° apart from each other. The bending of a single pressurized deformable actuating tube may cause entire actuator bundle 40 to bend with it.
  • Two pressurized deformable actuating tubes of actuator bundle 40 may be simultaneously pressurized to an approximately equal degree. Simultaneous pressurization may cause actuator bundle 40 to bend in a direction midway between the bending directions of the individual pressurized deformable actuating tubes. For example, simultaneously pressurizing pressurized deformable actuating tubes 16a and 16b may cause actuator bundle 40 to bend toward the left hand side of Fig. 4. Pressurizing each individual pressurized deformable actuating tube to a different pressure may cause actuator bundle 40 to bend in a different direction. In this manner, varying the pressure applied to each individual pressurized deformable actuating tube of actuator bundle 40 in a controlled manner. Such controlled application of pressure may enable controlled manipulation of actuator bundle 40 to cover a wider workspace than would be possible for a single pressurized deformable actuating tube.
  • FIG. 5 is a schematic diagram of a method of monitoring the state of a pressurized deformable actuating device in accordance with embodiments of the present invention.
  • Pump 24 pumps pressurized fluid into pressurized deformable actuating device 16 through inlet 11.
  • the pressure of the pressurized fluid may be controlled by means of adjusting pump 24.
  • the pressurized fluid may cause pressurized deformable actuating device 16 to inflate, extend, and bend.
  • Background surface 22 is marked with a visible coordinate grid.
  • Camera 30 is positioned and aimed such that pressurized deformable actuating device 16 is positioned between camera 30 and background surface 22.
  • An image acquired by camera 30, shows pressurized deformable actuating device 16 against background surface 22.
  • the shape of pressurized deformable actuating device 16 may then be ascertained with regard to the coordinate grid of background surface 22.
  • the position and orientation of front surface 15 or any other portion of pressurized deformable actuating device 16 may be ascertained.
  • the information thus obtained may be utilized by a control system of a robotic system that incorporates pressurized deformable actuating device 16.
  • the obtaining of shape, position, and orientation information may provide feedback to the control system with regard to the status and performance of pressurized deformable actuating device 16.
  • pump 24 may be adjusted to achieve a sequence of values of the pressure of the pressurized air, while images of pressurized deformable actuating device 16 against background surface 22 are acquired concurrently.
  • the dependence of the shape of pressurized deformable actuating device 16 on the pressure of the pressurized air may be determined empirically. The determined dependence may provide calibration information that allows the shape of pressurized deformable actuating device 16 to be predicted as a function of the applied air pressure.
  • the performance, or current shape, position, or orientation, of a pressurized deformable actuating device may be monitored by means of one or more sensors that are incorporated within the actuator itself.
  • one or more sensors may be incorporated into the walls of a pressurized deformable actuating device.
  • the sensors may be capable of generating signals that indicate the local strain of a section of an actuator wall.
  • one or more piezoelectric sensors constructed of polyvinylidene fluoride (PVDF) may be affixed to a segment of a wall such as to indicate the elongation of that segment. Analysis of the signals generated by the sensors may determine the current shape of the pressurized deformable actuating device.
  • PVDF polyvinylidene fluoride
  • strain sensor output may continue to accurately indicate the current shape of the pressurized deformable actuating device even if the elastic properties of the walls are altered.
  • the results of the analysis may be provided as feedback to a control sj'stem controlling the pressurized deformable actuating device.
  • one or more position sensors may monitor the positions of one or more points of a pressurized deformable actuating device, thus providing performance feedback to a control system that controls the pressurized deformable actuating device.
  • one or more accelerometers, gj ⁇ oscopes, or other motion sensors may monitor the motion of one or more parts of the pressurized deformable actuating device.
  • the techniques described above for the construction of a pressurized deformable actuating device may be adapted to the construction of a fluid delivery device, such as a catheter. A fluid delivery device so constructed may extend and bend in a controlled manner by forcing pressurized fluid into an interior chamber. Fig.
  • Fluid delivery device 50 includes a conduit in the form of central bore 55 that is shaped in the form of a cylinder that is open at both ends. Thus, fluid may be introduced to one end of central bore 55 and removed from the other, as indicated by arrow S.
  • Central bore 55 is surrounded by a hollow chamber 56 with an annular cross section between inner and outer walls. At one end of hollow chamber 56, the space between the inner and outer walls is sealed by means of annular cap 58.
  • the other end of hollow chamber 56 is at least partially open and connects to a source of pressurized fluid.
  • Pressurized fluid may be forced into hollow chamber 56, as indicated by arrows P.
  • Forcing pressurized fluid into hollow chamber 56 causes hollow chamber 56 to expand.
  • the walls of hollow chamber 56 are constructed so that the perimeter of each the inner and outer wall may be divided lengthwise into two sections, section 52 and section 54, along two radii.
  • Section 52 and section 54 are so constructed such that the elastic properties of section 52 and section 54 differ from one another.
  • sections 52 and 54 may be constructed of materials with different elastic material properties, or one section may be thicker than the other.
  • the walls of hollow chamber 56 may be constructed such that the elastic properties of the walls vary in a continuous fashion along the perimeters of the walls. As a result of the differing construction of the two sections, one section may be more elastic than the other.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Massaging Devices (AREA)

Abstract

L'invention porte sur un dispositif d'actionnement déformable qui comprend au moins un tube gonflable doté d'une entrée qui permet de gonfler un espace à l'intérieur du tube sous l'effet d'un fluide sous pression. Le tube comprend une paroi composée de segments d'élasticités différentes sur la longueur du tube, de manière que le tube est amené à se recourber dans une certaine direction lorsqu'il est gonflé.
PCT/IL2008/001170 2007-08-31 2008-08-28 Dispositif d'actionnement déformable sous pression et procédé Ceased WO2009027979A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US96684807P 2007-08-31 2007-08-31
US60/966,848 2007-08-31

Publications (2)

Publication Number Publication Date
WO2009027979A2 true WO2009027979A2 (fr) 2009-03-05
WO2009027979A3 WO2009027979A3 (fr) 2010-03-04

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PCT/IL2008/001170 Ceased WO2009027979A2 (fr) 2007-08-31 2008-08-28 Dispositif d'actionnement déformable sous pression et procédé

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014131810A1 (fr) * 2013-02-27 2014-09-04 Materialise N.V. Appareil de préhension et procédé de fabrication d'un appareil de préhension
CN108453752A (zh) * 2018-04-04 2018-08-28 佛山市奥耶克思机械设备有限公司 一种螺旋结构可控的柔性机械手
US10280951B2 (en) 2014-03-02 2019-05-07 Drexel University Articulating devices

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4976191A (en) * 1988-10-17 1990-12-11 Kabushiki Kaisha Toshiba Elastically deformable fluid actuator
JPH03113104A (ja) * 1989-09-25 1991-05-14 Bridgestone Corp 湾曲可能なアクチュエータ
US5018506A (en) * 1990-06-18 1991-05-28 Welch Allyn, Inc. Fluid controlled biased bending neck
US6148713A (en) * 1998-05-22 2000-11-21 The United States Of America As Represented By The Secretary Of The Navy Elastomeric surface actuation system
DE20004326U1 (de) * 2000-03-08 2000-06-21 Festo AG & Co, 73734 Esslingen Betätigungseinrichtung
DE10210332A1 (de) * 2002-03-08 2003-10-02 Festo Ag & Co Kontraktionseinheit mit Positionssensoreinrichtung

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014131810A1 (fr) * 2013-02-27 2014-09-04 Materialise N.V. Appareil de préhension et procédé de fabrication d'un appareil de préhension
BE1022062B1 (nl) * 2013-02-27 2016-02-15 Materialise Nv Grijpinrichting en systemen en werkwijzen voor de productie van grijpinrichtingen
US10280951B2 (en) 2014-03-02 2019-05-07 Drexel University Articulating devices
CN108453752A (zh) * 2018-04-04 2018-08-28 佛山市奥耶克思机械设备有限公司 一种螺旋结构可控的柔性机械手

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